CN107408526B

CN107408526B - Robot with driven end effector movement

Info

Publication number: CN107408526B
Application number: CN201680015058.0A
Authority: CN
Inventors: M·霍塞克; L·T·里尔里斯顿; J·里普康
Original assignee: Persimmon Technologies Corp
Current assignee: Persimmon Technologies Corp
Priority date: 2015-03-12
Filing date: 2016-03-11
Publication date: 2022-03-15
Anticipated expiration: 2036-03-11
Also published as: WO2016145305A3; JP2022177081A; JP2018512730A; US11691268B2; KR102567510B1; JP2021145140A; CN114367970A; US20160263742A1; JP7139488B2; US20230347505A1; KR20170130464A; CN107408526A; CN114367970B; JP7564516B2; WO2016145305A2; KR20230124100A; JP7074977B2

Abstract

An apparatus has: a drive unit having a first drive shaft rotatable about a first axis of rotation and a second drive shaft rotatable about a second axis of rotation, the second drive shaft being coaxial with and partially within the first drive shaft and being axially rotatable within the first drive shaft. The robot arm has: an upper arm connected to the drive unit at a first drive shaft; a forearm coupled to the upper arm, the forearm coupled to the upper arm at a first rotational joint and rotatable about the first rotational joint, the first rotational joint actuatable by a first band arrangement coupled to the second drive shaft; and an end effector coupled to the forearm, the end effector coupled to the forearm at a second rotational joint and rotatable about the second rotational joint, the second rotational joint actuatable by a second band arrangement coupled to the first rotational joint. The second belt arrangement is configured to provide a variable transmission ratio.

Description

Robot with driven end effector movement

Technical Field

The exemplary and non-limiting embodiments relate generally to robots having end effectors, and more particularly to robots having driven end effector motions.

Background

Vacuum, atmospheric, and controlled environment processing for applications such as associated with the manufacture of semiconductors, LEDs, solar energy, MEMS, or other devices utilizes robotics and other forms of automation to transport substrates and carriers associated with substrates to and from storage, processing, or other locations. Such transport of substrates may be moving individual substrates, groups of substrates, with a single arm transporting one or more substrates or multiple arms each transporting one or more substrates. Most of the manufacturing associated with semiconductor manufacturing, for example, is done in clean or vacuum environments where real estate and volume are at a premium. Furthermore, most automated shipments are made with a minimization of the number of shipments resulting in a reduction in cycle time and increased throughput and utilization of the associated equipment.

Disclosure of Invention

The following summary is intended to be merely exemplary. This summary is not intended to limit the scope of the claims.

According to one aspect, an apparatus has: a drive unit having a first drive shaft rotatable about a first axis of rotation and a second drive shaft rotatable about a second axis of rotation, the second drive shaft being coaxial with and partially within the first drive shaft and being axially rotatable within the first drive shaft. The robot arm has: an upper arm connected to the drive unit at a first drive shaft; a forearm coupled to the upper arm, the forearm coupled to the upper arm at a first rotational joint and rotatable about the first rotational joint, the first rotational joint actuatable by a first band arrangement coupled to the second drive shaft; and an end effector coupled to the forearm, the end effector coupled to the forearm at a second rotational joint and rotatable about the second rotational joint, the second rotational joint actuatable by a second band arrangement coupled to the first rotational joint. The second belt arrangement is configured to provide a variable transmission ratio.

In accordance with another aspect, an apparatus has: a drive unit having a first drive shaft rotatable about a first axis of rotation, a second drive shaft rotatable about a second axis of rotation coaxial with and partially within the first drive shaft and axially rotatable therein, and a third drive shaft rotatable about a third axis of rotation coaxial with and partially within the second drive shaft and axially rotatable therein. The robot arm has: an upper arm connected to the drive unit at a first drive shaft; a forearm coupled to the upper arm, the forearm coupled to the upper arm at a first rotational joint and rotatable about the first rotational joint, the first rotational joint actuatable by a single-stage belt arrangement including a first shoulder pulley actuatable by a third drive shaft, a first elbow pulley partially forming the first rotational joint, and a belt, band, or cable configured to transmit motion between the first shoulder pulley and the first elbow pulley; first and second end effectors coupled to the forearm, the first and second end effectors coupled to the forearm at a second rotational joint, an orientation of the first and second end effectors controlled by a two-stage band arrangement. A first stage of the two-stage belt arrangement includes a second shoulder pulley actuatable by a second drive shaft, a second elbow pulley partially forming a first rotational joint, and an upper belt, or cable configured to transmit motion between the second shoulder pulley and the second elbow pulley. The second stage of the two-stage band arrangement includes a third elbow pulley coupled to the second elbow pulley, a first wrist pulley coupled to the first end effector, and a first lower belt, band, or cable configured to transmit motion between the third elbow pulley and the first wrist pulley, and wherein the second stage of the two-stage band arrangement further includes a fourth elbow pulley coupled to the second elbow pulley, a second wrist pulley coupled to the second effector, and a second lower belt, band, or cable configured to transmit motion between the fourth elbow pulley and the second wrist pulley. At least one of the movement between the first shoulder pulley and the first elbow pulley, the movement between the second shoulder pulley and the second elbow pulley, the movement between the third elbow pulley and the first wrist pulley, and the movement between the fourth elbow pulley and the second wrist pulley is at a variable transmission ratio.

In accordance with another aspect, an apparatus has: a drive unit having a first drive shaft rotatable about a first axis of rotation, a second drive shaft rotatable about a second axis of rotation coaxial with and partially within the first drive shaft and axially rotatable therein, and a third drive shaft rotatable about a third axis of rotation coaxial with and partially within the second drive shaft and axially rotatable therein. The first robot arm has: a first upper arm connected to the drive unit at a first drive shaft; a first forearm coupled to the first upper arm, the first forearm coupled to the first upper arm at a first rotational joint, the first rotational joint actuatable by the second drive shaft using a first band arrangement; and a first end effector coupled to the first forearm, the first end effector coupled to the first forearm at a third rotational joint, the third rotational joint actuatable by the first rotational joint using a third band arrangement. The second robot arm has: a second upper arm connected to the drive unit at a third drive shaft; a second forearm coupled to the second upper arm, the second forearm coupled to the second upper arm at a second rotational joint, the second rotational joint actuatable by the second drive shaft using a second band arrangement; and a second end effector coupled to the second forearm, the second end effector coupled to the second forearm at a fourth rotational joint, the fourth rotational joint actuatable by the second rotational joint using a fourth band arrangement. At least one of the first, second, third and fourth belt arrangements has a variable transmission ratio.

Drawings

The foregoing aspects and other features are explained in the following description, taken in connection with the accompanying drawings, wherein:

FIG. 1 is a top view of a transport apparatus;

FIG. 2 is a top view of the transport apparatus;

FIG. 3 is a side view of the transport apparatus;

FIG. 4 is a top view of the transport apparatus;

FIG. 5 is a top view of the transport apparatus;

FIG. 6 is a top view of the transport apparatus;

FIG. 7 is a top view of the transport apparatus;

FIG. 8 is a top view of the transport apparatus;

FIG. 9 is a side view of the transport apparatus;

FIG. 10 is a top view of the transport apparatus;

FIG. 11 is a top view of the transport apparatus;

FIG. 12 is a side view of the transport apparatus;

fig. 13A to 13C are top views of the conveyance apparatus;

FIG. 14A is a top view of the transport apparatus;

FIG. 14B is a side view of the transport apparatus;

fig. 15A to 15C are top views of the conveyance apparatus;

FIG. 16 is a top view of the transport apparatus;

FIG. 17 is a side view of the transport apparatus;

FIG. 18A is a top view of the transport apparatus;

fig. 18B is a side view of the conveyance apparatus;

fig. 19A to 19C are top views of the conveyance apparatus;

fig. 20A to 20C are top views of the conveyance apparatus;

fig. 21A to 21C are plan views of the conveyance apparatus;

FIG. 22 is a side view of the transport apparatus;

fig. 23A is a side view of the transport apparatus;

fig. 23B is a side view of the conveyance device;

FIG. 24 is a side view of the transport apparatus;

fig. 25A is a top view of the transport apparatus;

fig. 25B is a side view of the conveyance apparatus;

fig. 26A to 26C are top views of the conveyance apparatus;

fig. 27A to 27C are plan views of the conveyance apparatus;

fig. 28A to 28C are top views of the conveyance apparatus;

fig. 29A is a top view of the conveyance apparatus;

fig. 29B is a side view of the conveyance device;

FIG. 30A is a side view of the transport apparatus;

FIG. 30B is a side view of the transport apparatus;

FIG. 31 is a top view of the transport apparatus;

FIG. 32 is a side view of the transport apparatus;

FIG. 33A is a top view of the transport apparatus;

fig. 33B is a side view of the conveyance apparatus;

fig. 34A to 34C are top views of the conveyance apparatus;

fig. 35A to 35C are top views of the conveyance apparatus;

FIG. 36 is a side view of the transport apparatus;

fig. 37A is a top view of the conveyance device;

fig. 37B is a side view of the transport apparatus;

fig. 38A is a top view of the transport apparatus;

fig. 38B is a side view of the transport apparatus;

FIG. 39 is a top view of the transport apparatus;

FIG. 40 is a side view of the transport apparatus;

fig. 41A is a top view of the conveyance apparatus;

fig. 41B is a side view of the conveyance apparatus;

FIG. 42A is an illustration of a partial pulley profile;

fig. 42B to 42E are top views of the conveyance apparatus;

FIG. 43 is an illustration of a partial pulley profile;

FIG. 44 is a top view of the transport apparatus;

FIG. 45 is a graphical illustration of an axial position trajectory;

FIG. 46 is a top view of the transport apparatus;

FIG. 47 is a graphical illustration of a shaft position trajectory;

FIG. 48 is a side view of the transport apparatus;

FIG. 49A is a top view of the transport apparatus;

FIG. 49B is a side view of the transport apparatus;

FIG. 50 is a top view of the transport apparatus;

FIG. 51 is a graphical illustration of an axial position trajectory;

FIG. 52 is a top view of the transport apparatus; and

FIG. 53 is a graphical illustration of an axial position trajectory.

Detailed Description

Referring to FIG. 1, there is shown a top view of a conveyor apparatus 10 incorporating features of an example embodiment. Although features will be described with reference to the exemplary embodiments shown in the drawings, it should be understood that features may be embodied in many alternate forms of embodiments. In addition, any suitable size, shape or type of elements or materials could be used. Disclosed herein are multi-link (e.g., three-link) robot mechanisms that may be used to transfer material to and/or from juxtaposed (e.g., laterally offset) stations in semiconductor wafer processing tools.

An example layout of a semiconductor wafer processing tool 10 is schematically depicted in the top view of fig. 1. In this particular example, the tool features 4 pairs of juxtaposed stations, e.g., one pair of load locks 12 and three pairs of

process module stations

14, 16, 18. The present three-link arm mechanism is designed to provide access to each of the stations in the tool along a predetermined path (e.g., a substantially linear path) that causes the end effector to be in a predetermined orientation, such as along a linear path 20 as illustrated in the example of fig. 1. The linear paths may be parallel to each other on a given sub-face 22, or alternatively angled with respect to each other. In alternative aspects, any suitable path or combination of paths, linear, circular, or any suitable shape or combination of shapes may be defined.

Fig. 2 and 3 show illustrations of top and side views, respectively, of a robotic arm robot 30 according to the disclosed embodiments mounted on a robot drive unit 32. The arm mechanism may be composed of a first link (upper arm) 34 and a second link (forearm 36) and a third link (end effector) 38 supporting a base 40. An example internal arrangement of the robot 28 is diagrammatically depicted in fig. 3. The arm mechanism may be driven by a two-axis spindle having two coaxial axes, e.g., an outer T1 axis 42 and an inner T2 axis 44. The inner T2 shaft 44 may be partially within the outer T1 shaft 42 such that the inner T2 shaft 44 may rotate within the outer T1 shaft 42. The first link 34 of the robot arm mechanism may be directly attached to the T1 axle 42. The second link 36 may be coupled to the first link 34 via a rotational joint 46 and actuated by the T2 shaft 44 using a belt arrangement 48. The band arrangement 48 may include a shoulder pulley 50 attachable to the T2 shaft 44, an elbow pulley 52 attachable to the second link 36, and a band, belt or cable 54 that may transmit motion between the two

pulleys

50, 52. The belt arrangement may feature a constant transmission ratio, for example, a 1:1 ratio may be conveniently used. However, any other suitable arrangement may be used. The third link 38 may be coupled to the second link 36 via a rotational joint 56, and its orientation may be constrained by another belt arrangement 58. The belt arrangement 58 may include an elbow pulley 60 connectable to the first link 34, a wrist pulley 62 connectable to the third link 38, and a belt, belt or cable 64 that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 3, the wrist pulley may feature a non-circular profile. An example of an arm utilizing a non-circular pulley is disclosed in U.S. patent application No. 13/833,732, filed on 15/3/2013 and entitled "robot with arms having unequal link lengths," the entire contents of which are hereby incorporated by reference herein.

The variable transmission ratio may be selected such that the orientation of the third link (end effector) 38 changes in a predetermined manner depending on the relative positions of the first and

second links

34, 36. The relative positions of the first and

second links

34, 36 may be conveniently expressed in terms of the angle between the two links. Alternatively, the orientation of the third link (end effector) 38 may be changed in a predetermined manner depending on the relative position of the link, shaft, or otherwise. By way of example, the transmission ratio may be selected as follows: such that a reference point on the third link (typically the nominal center 70 of the end effector) may be allowed to follow a predetermined path that causes the third link (end effector) to be in a predetermined (but not necessarily constant) orientation when the first and second links are actuated accordingly. As an example, the

paths

72, 74, 76, 78 may be selected as access paths to one of the stations 82 of fig. 1 as illustrated in fig. 4. Further, the gear ratios may be selected such that the arms may access adjacent stations 82, as shown in fig. 5. The T1 and

T2 shafts

42, 44 may also be rotated to reorient the arm mechanism for access to another pair of

stations

86, 88 or 90, 92, as illustrated in fig. 6 and 7.

Although the initial position of the robot arm mechanism is shown on the axis of symmetry between adjacent juxtaposed stations, it should be noted that any other initial position may be used. It is also noted that the drive unit of the robot may feature other axes to facilitate vertical lifting of the arm mechanism, for example to pick and place wafers carried by the end effector. In alternative aspects, other additional axes of rotation and/or arms may be provided. In an alternative aspect, the belt arrangement between the shoulder pulley attached to the T2 shaft and the elbow pulley attached to the second link features a variable transmission ratio, for example using at least one non-circular pulley. The variable transmission ratio is selected so that the extension of the arm is driven by the T-shaft while the T2 shaft remains stationary. In an alternative aspect, the variable transmission ratio may be selected such that the T2 axis follows a predetermined motion profile as the robot arm extends along a predetermined path. In an alternative aspect, the mechanism that constrains the orientation of the third link comprises an additional band arrangement.

For example, as diagrammatically depicted in fig. 8, the orientation of the third link 102 may be constrained by a band arrangement 104 that may include an elbow pulley 106 that may be coaxial with the elbow joint 108 (the rotational joint between the first and second links) and free to rotate relative to the two first and

second links

110, 112, a wrist pulley 114 that may be connected to the third link 102, and a band, belt, or cable 116 that may transmit motion between the two pulleys. The motion of the elbow pulley is constrained by another belt arrangement 118 that may include a pulley 120 attached to a T2 shaft 122, a pulley 124 attached to the elbow pulley 106, and a belt, or cable 126 that may transmit motion between the two pulleys. The two belt arrangements may feature constant or variable transmission ratios. As an example, if the two band arrangements feature a constant 1:1 ratio, and if the second link is coupled to the T2 shaft, the end effector maintains a constant orientation as the arm is extended and retracted by actuating the T1 shaft.

The disclosed aspects may be similarly applied to dual end effector arm mechanisms that may be used to transfer material to/from a juxtaposition (laterally offset) station in a semiconductor wafer processing tool. Here, an example layout of a semiconductor wafer processing tool 210 is diagrammatically depicted in the top view of fig. 10. In this particular example, the tool features 4 pairs of side-by-side stations, e.g., a pair of

load locks

220 and 3 pairs of process module stations 230 and transport chambers or modules 232.

The present embodiment arm mechanism may be designed to provide access to each of the stations in the tool along a predetermined path 236 (e.g., a substantially linear path) that causes the end effector to be in a predetermined orientation, such as along a linear path as illustrated in the example of fig. 10.

Fig. 11 and 12 show illustrations of top and side views of a robot arm mechanism 250 mounted on a robot drive unit 252. The arm mechanism may be comprised of a first link (upper arm) 254, a second link (forearm) 256 that pivots an end effector a 258 and an end effector B260. An example internal arrangement of a robot is diagrammatically depicted in fig. 11 and 12. The arm mechanism may be driven by a three-axis spindle having three coaxial axes, e.g., an outer T1 axis 262, a T2 axis 264, and an inner T3 axis 266. The T2 shaft 264 may be partially within the outer T1 shaft 262 and the inner T3 shaft 266 may be partially within the T2 shaft 264. The first link of the robot arm mechanism may be directly attached to the T1 axle. The second link may be coupled to the first ring via a rotational joint (elbow joint) and actuated by the T3 shaft using a band arrangement. The belt arrangement may comprise a first shoulder pulley attachable to the T3 shaft, a second elbow pulley attachable to the second link, and a belt, belt or cable that may transmit motion between the two pulleys. The belt arrangement may feature a constant or variable transmission ratio, for example, a 1:1 ratio may be conveniently used. However, any other suitable arrangement may be used. The end effector a may be coupled to the second link via a rotary joint (wrist joint), and its orientation may be controlled by a two-stage belt arrangement. The first stage of the belt arrangement may include a second shoulder pulley connectable to the T2 shaft, a second elbow pulley, and a belt, or cable that may transmit motion between the two pulleys. The first stage of the belt arrangement may feature a constant or variable transmission ratio, for example, a 1:1 ratio may be conveniently used. The second stage of the band arrangement may comprise a third elbow pulley connectable to the second elbow pulley, a first wrist pulley connectable to the end effector a, and a band, belt or cable that may transmit motion between the two pulleys. The second stage of the belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 11 and 12, the wrist pulley may feature a non-circular profile. An example of an arm utilizing a non-circular pulley is disclosed in U.S. patent application No. 13/833,732, filed on 15/3/2013 and entitled "robot with arms having unequal link lengths," the entire contents of which are hereby incorporated by reference herein. Another example of an arm utilizing a non-circular pulley is disclosed in U.S. provisional patent application No. 62/132,066, filed 3/12/2015 and entitled "2 degree of freedom 3-link robotic arm mechanism," the entire contents of which are hereby incorporated by reference.

The variable transmission ratio may be selected such that the orientation of the end effector a changes in a predetermined manner depending on the relative positions of the first and second links and the T2 axis. For example, it may be selected so that the end effector a may follow a path to a station as illustrated in fig. 13A-13C, or, depending on the movement of the T2 axis, fold to the side as also illustrated in fig. 13A-13C. Similarly, the end effector B may be coupled to the second link via a rotary joint (wrist joint), and its orientation may be controlled by a two-stage belt arrangement. The first stage of the belt arrangement is shared with end effector a. The second stage of the band arrangement may comprise a fourth elbow pulley connectable to the second elbow pulley, a second wrist pulley connectable to the end effector B, and a band, belt or cable that may transmit motion between the two pulleys. The second stage of the belt arrangement may be configured in an interleaved configuration, as illustrated in fig. 11 and 12, and may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 11 and 12, the wrist pulley may feature a non-circular profile. The variable transmission ratio may be selected such that the orientation of the end effector B changes in a predetermined manner depending on the relative positions of the first and second links and the T2 axis. For example, it may be selected so that the end effector a may follow a path to a station as illustrated in fig. 13A-13C, or, depending on the movement of the T2 axis, fold to the side as also illustrated in fig. 13A-13C.

Although the arm mechanism is shown as being right-handed (elbow joint on the right-hand side of the line from shoulder joint to wrist joint) when it accesses the left-hand station in fig. 13A-13C and left-handed when it accesses the right-hand station in fig. 13A-13C, in an alternative embodiment the mechanism may be configured such that it is left-handed when accessing the left-hand station and right-handed when accessing the right-hand station.

In yet another alternative embodiment, the second link may be actuated by a T2 shaft and the orientation of the end effector may be controlled by a T3 shaft. Referring now to fig. 14A and 14B, there is shown an illustration of a top and side view of a robot arm mechanism 300 mounted on a robot drive unit 302, including an example internal arrangement of a robot. The arm mechanism may be comprised of a left linkage 304 and a right linkage 306. The arm mechanism may be driven by a three-axis spindle having three coaxial axes, e.g., an outer T1 axis 308, a T2 axis 310, and an inner T3 axis 312. The T2 shaft 310 may be partially within the outer T1 shaft 308 and the inner T3 shaft 312 may be partially within the T2 shaft 310. The left linkage may be comprised of a left first link (upper arm) 314, a left second link (forearm) 316, and a left third link (end effector) 318. The left first link may be directly connected to the T1 axle. The left second link may be coupled to the left first ring via a rotational joint and constrained by the T2 shaft using a strap arrangement. The belt arrangement may comprise a first shoulder pulley attachable to the T2 shaft, a left elbow pulley attachable to the second link, and a belt, belt or cable that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. However, any other suitable arrangement may be used. The left third link may be coupled to the left second link via a rotational joint, and its orientation may be constrained by another belt arrangement. The belt arrangement may comprise a left elbow pulley connectable to the left first link, a left wrist pulley connectable to the left third link, and a belt, belt or cable that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 14A and 14B, the wrist pulley may feature a non-circular profile. The variable transmission ratio may be selected such that the orientation of the left third link (end effector) changes in a predetermined manner depending on the relative positions of the left first and second links. The relative position of the left first link and the left second link can be conveniently expressed in terms of the angle between the two links. For example, the transmission ratios of the two belt arrangements may be selected as follows: such that when the left first link is actuated by the T1 shaft and the T2 shaft is held stationary, a reference point on the left third link (typically the nominal center of the end effector) may be allowed to follow a predetermined path that causes the left third link (end effector) to have a predetermined (e.g., constant) orientation.

As an example, the path may be selected as an access path to one of the stations of fig. 10 as illustrated in fig. 15A to 15C. Referring again to fig. 14A and 14B, the right linkage may be configured substantially as a mirror image of the left linkage. It may be comprised of a right first link (upper arm) 320, a right second link (forearm) 322, and a right third link (end effector) 324. The right first link may be directly attached to the T3 axle. The right second link may be coupled to the right first ring via a rotational joint and constrained by the T2 shaft using a strap arrangement. The belt arrangement may comprise a second shoulder pulley attachable to the T2 shaft, a left elbow pulley attachable to the second link, and a belt, belt or cable that may transmit motion between the two pulleys. Similar to the left linkage, the belt arrangement may feature a variable transmission ratio. However, any other suitable arrangement may be used.

The remaining components of the right linkage may be configured substantially as a mirror image of the left linkage, and the operation of the right linkage is substantially equivalent to the left linkage in a mirror image. In addition, the T1, T2, and T3 axes may be rotated in synchronization to reorient the arm mechanism for access to another pair of stations.

Although the left linkage is shown as left-hand in fig. 15A-15C (elbow joint on the left-hand side of the line from shoulder joint to wrist joint) and the right linkage is depicted as right-hand in fig. 15A-15C, in alternative embodiments the mechanism may be configured such that the left linkage is right-hand and the right linkage is left-hand.

In yet another alternative embodiment, the right upper arm may be actuated by the T2 axis and the orientation of the right and left forearms may be constrained by the T3 axis.

The disclosed aspects may be similarly applied to dual end effector robot mechanisms that may be used to transfer material to/from a juxtaposition (laterally offset) station in a semiconductor wafer processing tool. An example layout of a semiconductor wafer processing tool 410 is diagrammatically depicted in the top view of fig. 16. In this particular example, the tool features 4 pairs of side-by-side stations, e.g., a pair of

load locks

412 and 3 pairs of process module stations 414 coupled to a transport chamber 416.

The disclosed arm mechanisms may provide access to each of the stations in the tool along a predetermined path (e.g., substantially linear path 418, 420) that causes the end effector to be in a predetermined orientation, such as along

linear path

418, 420 as illustrated in the example of fig. 16.

Fig. 17 shows an illustration of a side view of a robot 450 having an example robot arm mechanism 452 according to one embodiment mounted on a robot drive unit 454. The arm mechanism may be comprised of a first link (upper arm) 456, a second link (forearm) a 458, an end effector a 460, a second link (forearm) B462, and an end effector B464. An example internal arrangement of the robot 450 of fig. 17 is diagrammatically depicted in fig. 18A and 18B. The arm mechanism may be driven by a three-axis spindle 454 having three coaxial axes, e.g., an outer T1 axis 470, a T2 axis 472, and an inner T3 axis 474. The first link 456 of the robot may be directly attached to the T1 axle 70. The second link a 458 may be coupled to the first link 456 via a rotary joint (elbow joint) 480 and actuated by a T3 shaft 474 using a belt arrangement 482. The belt arrangement 482 may include a shoulder belt pulley a 484 attachable to the T3 shaft 474, an elbow belt pulley a 486 attachable to the second link a 458, and a belt, or cable 488 that may transmit motion between the two pulleys. The belt arrangement may feature a constant or variable transmission ratio, for example, a 1:1 ratio may be conveniently used. However, any other suitable arrangement may be used. Similarly, the second link B462 may be coupled to the first link 456 via a rotary joint (elbow joint) 480 and actuated by a T2 shaft 472 using a belt arrangement 483. The end effector a 460 may be coupled to the second link a 458 via a rotational joint (wrist joint) and its orientation may be constrained by another band arrangement 492. The band arrangement may include an elbow pulley 494, which may be connected to the first link, and a wrist pulley 496, which may be connected to the end effector a 460, and a band 498, belt or cable, which may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 18A-18B, the wrist band wheel may feature a non-circular profile. An example of an arm utilizing a non-circular pulley is disclosed in U.S. patent application No. 13/833,732, filed on 15/3/2013 and entitled "robot with arms having unequal link lengths," the entire contents of which are hereby incorporated by reference herein. Another example of an arm utilizing a non-circular pulley is disclosed in U.S. provisional patent application No. 62/132,066, filed 3/12/2015 and entitled "2 degree of freedom 3-link robotic arm mechanism," the entire contents of which are hereby incorporated by reference. Another example of an arm utilizing a non-circular pulley is disclosed in U.S. provisional patent application No. 62/135,490, filed on 3/19/2015 and entitled "arm mechanism with two end effectors," the entire contents of which are hereby incorporated by reference.

The variable transmission ratio may be selected such that the orientation of the end effector a 460 changes in a predetermined manner depending on the relative positions of the first 456 and second 458 linkages. For example, it may be selected such that end effector a 460 may follow a path to a station as illustrated in fig. 19A-19C.

Similarly, end effector B464 may be coupled to second link B462 via a rotational joint (wrist joint) 502, and its orientation may be constrained by yet another band arrangement 504. The band arrangement 504 may include an elbow pulley 506 connectable to the first link 456, a wrist pulley 508 connectable to the end effector B464, and a band, belt, or cable 510 that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 18A and 18B, the wrist pulley may feature a non-circular profile. The variable transmission ratio may be selected such that the orientation of the end effector B varies in a predetermined manner depending on the relative positions of the first and second links B. For example, it may be selected such that the end effector B may follow a path to a station as illustrated in fig. 19A-19C.

Typical operation of the robot is illustrated in fig. 19 to 21. Fig. 19A-19C show the robot 450 in a retracted position, with end effector a accessing the left station 530 and end effector B accessing the same station. This allows the robot to perform a rapid material exchange in the left station. Similarly, fig. 20A-20C depict a robot 450 that utilizes end effectors a and B to access station B532, allowing the robot to perform rapid material exchanges in station B. Finally, fig. 21A-21C illustrate that the robot may extend both

end effectors

460, 464 to access both left 530 and right 532 stations simultaneously. Further, the T1, T2, and T3 axes may be rotated in synchronization to reorient the arm mechanism to access another pair of stations or any suitable combination of station(s).

The examples of fig. 17-21 show a robotic arm mechanism having elbow joints configured in a coaxial manner. However, the elbow joint 540 may be configured as two

separate joints

542, 544 in an offset manner, as diagrammatically depicted in the example robot 450' of fig. 22. Additional alternative example embodiments are shown diagrammatically in fig. 23A and 23B. Fig. 23A shows a robot 600 having a drive 602, a common upper arm 604, a forearm a 606 and a forearm B608 with a common elbow 610. Here, robot 600 is shown with end effectors mounted to the top surfaces of

forearms

604, 606 at respective wrist joints, where robot 600 may be driven and utilized in a similar manner as robot 450. Fig. 23B shows a robot 600 'with a drive 602, a common upper arm 604, a forearm a 606' with a common elbow 610, and a forearm B608. Here, robot 600 ' is shown having end effectors mounted to the top and bottom surfaces of forearms 604, 606 ', respectively, at respective wrist joints, where robot 600 ' may be driven and utilized in a similar manner as robot 450.

Fig. 24 shows an illustration of a side view robot of a robot arm mechanism 702 according to an embodiment mounted on a robot drive unit 704. The arm mechanism may be comprised of linkage a 706 and linkage B708. An example internal arrangement of the robot 700 of fig. 24 is schematically depicted in fig. 25A and 25B. The arm mechanism may be driven by a three-axis spindle 704 having three coaxial axes, e.g., an outer T1 axis 710, a T2 axis 712, and an inner T3 axis 714. The T2 shaft 712 may be partially within the outer T1 shaft 710 and the inner T3 shaft 714 may be partially within the T2 shaft 712. The linkage a 706 may be comprised of a first link (upper arm) 716, a second link (forearm) 718, and a third link (end effector a) 720. The first link may be directly attached to the T3 axle 714. The second link may be coupled to the first link via a rotational joint 722 and constrained by the T2 shaft 712 using a strap arrangement 724. The belt arrangement 724 may include a shoulder pulley attachable to the T2 shaft 712, an elbow pulley attachable to the second link 718, and a belt, or cable that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. However, any other suitable arrangement may be used. The third link of linkage a 720 may be coupled to the second link 716 via a rotational joint 726, and its orientation may be constrained by another band arrangement 728. The belt arrangement 728 may include a left elbow pulley connectable to the first link 716, a wrist pulley connectable to the third link 720, and a belt, or cable that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 25A and 25B, the wrist pulley may feature a non-circular profile. The variable transmission ratio may be selected such that the orientation of the third link (end effector a) of the linkage arrangement a changes in a predetermined manner depending on the relative positions of the first and second links. The relative positions of the first and second links may conveniently be expressed in terms of the angle between the two links. By way of example, the transmission ratios of the two belt arrangements of linkage A706 may be selected as follows: the reference point on the third link (typically the nominal center of end effector a) is allowed to follow a predetermined path that causes the left third link (end effector a) to be in a predetermined (e.g., constant) orientation when the first link is actuated by the T3 shaft and the T2 shaft is held stationary.

As an example, the path may be selected as an access path to one of the stations 132 of fig. 16 as illustrated in fig. 26A to 26C. Referring again to fig. 25A and 25B, linkage B708 may be comprised of a first link (upper arm) 732, a second link 734 (forearm), and a right third link (end effector B) 736. The first link 732 may be directly attached to the T1 axle 710. The second link 734 may be coupled to the first link 732 via a rotational joint 738 and constrained by the T2 shaft 712 using a belt arrangement 740. The belt arrangement may include another shoulder pulley attachable to the T2 shaft 712, an elbow pulley attachable to the second link 734, and a belt, or cable that may transmit motion between the two pulleys. Similar to the left linkage a, the belt arrangement may feature a variable transmission ratio. However, any other suitable arrangement may be used. The remaining components of linkage B may be configured in a manner similar to linkage a, and the operation of linkage B is also substantially equivalent to linkage a, except that T1 shaft 710 plays the role of T3 shaft 714.

Typical operation of the robot is illustrated in fig. 26 to 28. Fig. 26A-26C show robot 700 in a retracted position, with end effector a 720 accessing left station 532 and end effector B736 accessing the same station. This allows the robot 700 to perform a rapid material exchange in the left station 532. Similarly, fig. 27A-27C depict robot 700 utilizing end effector a 720 and B736 to access station B534, allowing the robot to perform rapid material exchanges in station B534. Further, fig. 28A-28C illustrate that the robot may extend both end effectors to access both left and right stations simultaneously. In addition, the T1, T2, and T3 shafts may be rotated in unison to reorient the arm mechanism to access another pair of stations or any suitable location.

As seen in fig. 29A and 29B, the arm mechanism may alternatively be driven by a four-axis spindle 750 having four coaxial shafts (e.g., an outer T1752 shaft, a T2 shaft 754, a T3 shaft 756, and an inner T4 shaft 758), as illustrated in the example of fig. 29. In this particular example, the T1 shaft 752 may be connected to the first link 760 of linkage a, the T2 shaft 754 may actuate the second link 762 of linkage a, the T3756 may actuate the second link 764 of linkage B, and the T4 shaft 758 may be connected to the first link 766 of linkage B. However, any suitable configuration of four axes may be used.

Additional alternative example embodiments are shown diagrammatically in fig. 30A and 30B. Figure 30A shows robot 780 with drive 782, arm a784 and arm B786 nested as shown. Robot 780 may have features and be driven similar to

robots

700, 750 or otherwise. Here, robot 780 is shown with end effectors mounted to the top surface of respective forearms at respective wrist joints, where robot 780 may be driven and utilized in a similar manner. Figure 30B shows a robot 780 'with a drive 782, arm a 784' and arm B786 nested as shown. Robot 780 may have features and be driven similar to

robots

700, 750 or otherwise. Here, robot 780 'is shown with end effectors mounted to the bottom and top surfaces of respective forearms at respective wrist joints, where robot 780' may be driven and utilized in a similar manner.

The disclosed aspects may be similarly applied to dual end effector robot mechanisms that may be used to transfer material to/from a juxtaposition (laterally offset) station in a semiconductor wafer processing tool. An example layout of a semiconductor wafer processing tool 810 is diagrammatically depicted in the top view of fig. 31. In this particular example, the tool features 4 pairs of side-by-side stations, e.g., a pair of

load locks

812 and 3 pairs of process module stations 814 coupled to a transport chamber 816.

The present arm mechanism may provide access to each of the stations in the tool along a predetermined path (e.g., substantially linear path 818, 820) that causes the end effector to be in a predetermined orientation, such as along

linear path

818, 820 as illustrated in the example of fig. 31.

Figure 32 shows an illustration of a side view of a robot 850 with an example robotic arm mechanism 852 according to one embodiment mounted on a robot drive unit 854. The arm mechanism may be comprised of a first link (upper arm) 856, a second link (forearm) a 858, an end effector a860, a second link (forearm) B862, and an end effector B864. An example internal arrangement of the robot 850 of fig. 32 is diagrammatically depicted in fig. 33A and 33B. The arm mechanism may be driven by a three-axis spindle 854 having three coaxial axes (e.g., an outer T1 axis 870, a T2 axis 872, and an inner T3 axis 874). The first link 856 of the robotic arm mechanism may be directly attached to the T1 shaft 870. The second link a 858 may be coupled to the first link 856 via a rotary joint (elbow joint) 880 and driven by a T3 shaft 874 using a belt arrangement 882. The belt arrangement 882 may include a shoulder pulley a 884 attachable to a T3 axle 874, an elbow pulley a886 attachable to a second link a 858, and a belt, belt or cable 888 transmittable between the two pulleys. The belt arrangement may feature a constant or variable transmission ratio, for example, a 1:1 ratio may be conveniently used. However, any other suitable arrangement may be used. Similarly, the second link B862 may be coupled to the first link 856 via a rotational joint (elbow joint) 880 and actuated by the T2 shaft 872 using a strap arrangement 883. End effector a860 may be coupled to second link a 858 via support structure 861 and rotational joint (wrist joint) 890. As depicted in the example of fig. 32, support structure 861 may be attached to rotational joint 890 below second link a 858 and shaped to avoid mechanical interference with, for example, second link a 858 and second link B862 during operation. Support structure 861 may be formed from one or more component parts that integrate end effector a860 or rotary joint 890, or may be implemented in any other suitable manner. The orientation of end effector a860 may be constrained by band arrangement 892. The belt arrangement may comprise an elbow pulley 894 connectable to the first link, and a wrist pulley 896 connectable to a support structure 861 having an end effector a860, and a belt, belt or cable 898 that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. An example of an arm utilizing a non-circular pulley is disclosed in U.S. patent application No. 13/833,732, filed on 15/3/2013 and entitled "robot with arms having unequal link lengths," the entire contents of which are hereby incorporated by reference herein. Another example of an arm utilizing a non-circular pulley is disclosed in U.S. provisional patent application No. 62/132,066, filed 3/12/2015 and entitled "2 degree of freedom 3-link robotic arm mechanism," the entire contents of which are hereby incorporated by reference. Another example of an arm utilizing a non-circular pulley is disclosed in U.S. provisional patent application No. 62/135,490, filed on 3/19/2015 and entitled "arm mechanism with two end effectors," the entire contents of which are hereby incorporated by reference. Another example of an arm utilizing a non-circular pulley is disclosed in U.S. provisional patent application No. 62/137,458, filed on 24/3/2015 and entitled "robotic arm mechanism with two end effectors," the entire contents of which are hereby incorporated by reference.

The variable transmission ratio may be selected such that the orientation of end effector a860 changes in a predetermined manner depending on the relative positions of first link 856 and second link a 858. For example, it may be selected such that end effector a860 may follow a path to a station as illustrated in fig. 34A-34C. The end effector B864 may be coupled to the second link B862 via a rotational joint (elbow joint) 902, and its orientation may be constrained by yet another band arrangement 904. The band arrangement 904 may include an elbow pulley 906 connectable to the first link 856, a wrist pulley 908 connectable to the end effector B864, and a band, belt, or cable 910 that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 33A and 33B, the wrist pulley may feature a non-circular profile.

The variable transmission ratio may be selected such that the orientation of the end effector B varies in a predetermined manner depending on the relative positions of the first and second links B. For example, it may be selected such that the end effector B may follow a path to a station as illustrated in fig. 34A-34C. Example operations of the robot are illustrated in fig. 34 and 35. Fig. 34A-34C show the robot 850 in a retracted position in front of the left station 530, accessing the left station 530 with end effector a and accessing the same station with end effector B. This allows the robot to perform a rapid material exchange at the left station. Still referring to fig. 34A-34C, the end effector a860 may be extended to the left station 530 along a desired path, e.g., a substantially straight path 820, by rotating the T3 shaft 874 in a clockwise direction while coordinating the rotation of the T1 shaft 870 with the rotation of the T3 shaft 74 such that the end effector a860 follows the desired straight path 820. Meanwhile, the end effector B864 can be kept folded on top of the second link B862 by synchronously rotating the T2 shaft 862 and the T1 shaft 870. Similarly, the end effector a860 may be withdrawn from the left station 530 along a desired path, e.g., the same substantially linear path 820, by rotating the T3 shaft 874 in a counterclockwise direction while coordinating the rotation of the T1 shaft 870 with the rotation of the T3 shaft 874 such that the end effector a860 follows the desired linear path 820. Again, the end effector B864 may be held folded over the top of the second link B862 by synchronously rotating the T2 axis 862 and the T1 axis 870. The end effector B864 may then be extended along a desired path, such as a substantially linear path 820, to the left station 530 by rotating the T2 shaft 872 in a clockwise direction while coordinating the rotation of the T1 shaft 870 with the rotation of the T2 shaft 872 such that the end effector B864 follows the desired linear path 820. At the same time, end effector a60 may be held folded on top of second link a 858 by rotating T3 shaft 874 in synchronism with T1 shaft 870. Further, the end effector B864 may be withdrawn from the left station 530 along a desired path, e.g., the same substantially linear path 820, by rotating the T2 shaft 872 in a counterclockwise direction while coordinating the rotation of the T1 shaft 870 with the rotation of the T2 shaft 872 such that the end effector B864 follows the desired linear path 820. Again, the end effector a860 may be held folded over the top of the second link a 58 by rotating the T3 shaft 874 in synchronism with the T1 shaft 870. Additionally, the T1, T2, and T3 axes may be rotated in synchronization to reorient the arm mechanism to access another location, such as the right station 532.

Fig. 35A-35C depict the robot 850 accessing the right station 532 with end effectors a and B, allowing the robot to perform rapid material exchanges at the right station 532. In fig. 35A-35C, the end effector a860 may be extended to the right station 532 along a desired path, such as the substantially straight path 818, by rotating the T3 shaft 74 in a counterclockwise direction while coordinating the rotation of the T1 shaft 870 with the rotation of the T3 shaft 874 so that the end effector a860 follows the desired straight path 818. Meanwhile, the end effector B864 can be kept folded on top of the second link B862 by synchronously rotating the T2 shaft 862 and the T1 shaft 870. Similarly, the end effector a860 may be withdrawn from the right station 532 along a desired path, such as the same substantially linear path 818, by rotating the T3 shaft 874 in a clockwise direction while coordinating the rotation of the T1 shaft 870 with the rotation of the T3 shaft 874 such that the end effector a860 follows the desired linear path 818. Again, the end effector B864 may be held folded over the top of the second link B862 by synchronously rotating the T2 axis 862 and the T1 axis 870. The end effector B864 may then be extended along a desired path, such as a substantially linear path 818, to the right station 532 by rotating the T2 shaft 872 in a counterclockwise direction while coordinating the rotation of the T1 shaft 870 with the rotation of the T2 shaft 872 such that the end effector B864 follows the desired linear path 818. At the same time, end effector a860 may be held folded on top of second link a 858 by rotating T3 shaft 874 in synchronism with T1 shaft 870. Further, the end effector B864 may be withdrawn from the right station 532 along a desired path, e.g., the same substantially linear path 818, by rotating the T2 shaft 872 in a clockwise direction while coordinating the rotation of the T1 shaft 870 with the rotation of the T2 shaft 872 such that the end effector B864 follows the desired linear path 818. Again, end effector a860 may be held folded on top of second link a 858 by rotating T3 shaft 874 in synchronism with T1 shaft 870.

The operations and movements of fig. 34 and 35 represent examples, and the arm mechanism may perform any other desired operations and suitable movements. For example, the rotation of some or all of the

shafts

870, 872, and 874 may be defined and coordinated such that the amount of movement of a withdrawn end effector (e.g., end effector a860) during extension and withdrawal of another end effector (e.g., end effector B864) is minimized. As another example, individual movements such as extension, retraction, and rotation may be blended and/or overlapped to obtain a smooth motion path and reduce the overall duration of the motion.

The example of fig. 32 and 33 shows a robot arm mechanism with a support structure 861 attached to a rotary joint 890 below second link a 858. However, support structure 861 may be attached to rotational joint 890 above second link a 858, as shown diagrammatically in fig. 36. An example internal arrangement of the example embodiment of fig. 36 is diagrammatically depicted in fig. 37A and 37B. Alternatively, support structure 861 may be attached to rotational joint 890 in any suitable manner and may have any suitable shape.

The example of fig. 32-37 depicts a robot arm mechanism having second link a 858 and second link B862 of equal length. However, second link a 858 and second link B862 may have any suitable overall and joint-to-joint lengths. Similarly, although the end effector a860 and the end effector B864 are shown as being of equal length in the example of fig. 32-37, the end effectors may be of any suitable length.

Although the example embodiment of fig. 32-37 is described as having belt arrangements 882 and 883, any other suitable single or multi-stage transmission arrangement having fixed or variable gear ratios may be used, including but not limited to chains and gears. Similarly, any other suitable single or multiple stage transmission arrangement having suitably variable gear ratios, including but not limited to chains and gears, may be employed in place of the

belt arrangements

92 and 104. Further, chains (e.g., instead of or in combination with belts, or cables) and gears may be used in any of the embodiments disclosed herein.

One example of a suitable arrangement is shown in fig. 36 and 37, where a robot 850 'is shown having an end effector 860' with a bridge mounted on an upper surface of the wrist opposite a bottom surface of the wrist as shown in fig. 32. Another example of a suitable arrangement is shown in fig. 38A and 38B, where a robot 850 "is shown with offset

shoulder joints

897, 899.

An example layout of a semiconductor wafer processing tool 1010 is diagrammatically depicted in the top view of fig. 39. In this example, the tool features 4 pairs of juxtaposed stations 1012, e.g., a pair of load locks and 3 pairs of process module stations 1012 coupled to the transport chamber 1014. Fig. 40 shows an illustration of a side view of a robot 1050 with an example 2-degree-of-freedom 3-link robot arm mechanism 1054 mounted on a robot drive unit 1056. The arm mechanism 1054 may be comprised of a first link (upper arm) 1058, a second link (forearm) 1060, and a third link (end effector) 1062. An example internal arrangement of the robot 1050 of fig. 40 is schematically depicted in fig. 41A and 41B. The arm mechanism may be driven by a two-axis spindle 1064 having two coaxial axes, such as an outer T1 axis 1066 and an inner T2 axis 1068. As illustrated in fig. 41A and 41B, the orientation of the end effector 1062 may be constrained by a band arrangement 1068. The belt arrangement 1068 may include a toggle pulley 1070 that may be connected to the first link 1058, and a wrist pulley 1072 that may be connected to the end effector 1062 and a belt, or cable that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 41A and 41B, the wrist pulley 1072 may feature a non-circular profile and the elbow pulley 1070 may have a substantially circular profile. The variable transmission ratio may be selected such that the orientation of the end effector changes in a predetermined manner depending on the relative positions of the first and second links. For example, it may be selected such that the end effector may follow a path to a station as illustrated in fig. 39.

Example arrangements with variable gear ratios that provide such functionality will be discussed with reference to fig. 42A-45, for example. The appropriate geometry of the arm mechanism, i.e. the joint-joint links and end effector lengths, can be conveniently derived from the site(s) of the station, the required reach of the end effector and constraints and obstacles in the working space (which may determine the allowed swing radius of the arm mechanism in its retracted position).

Determine an example length of the third link 1062: the third link length L3 may be conveniently defined as the distance between the axis of rotation of wrist joint 1080 and a reference point on third link 1082 (typically the nominal center of the end effector). When the end effector is extended to a station, there are actually three constraints: 1) the position of a reference point on the third link (typically the nominal center of the end effector) should be substantially aligned with the station position, 2) the end effector should have a desired orientation, e.g., it may point straight along the access path to the station, and 3) the wrist joint should be far enough back so that it does not collide with any obstructions in the path to the station. The above constraints may be used to determine the length of the third link (end effector), for example, as a minimum value that meets the constraints. As an example, the following expression may be used:

wherein X_stnAnd Y_stnRespectively generation by generationThe table is offset with the x-axis and y-axis of the station position in a cartesian coordinate system at (0, 0) at the robot center, i.e. the robot center (shoulder joint), and where R is_sThe representation defines an allowable swing radius R_sWhich defines a circular space in which the withdrawn robot arm mechanism can rotate freely.

Determine an example length of the second link: the joint-to-joint length L2 of the second link may be defined as the distance between the axis of rotation of the elbow joint and the axis of rotation of the wrist joint. For semiconductor wafer processing tools having pairs of juxtaposed stations, such as the example layout of fig. 39, the length of the forearm may be conveniently selected to be equal to or greater than (if necessary) the offset of the station positions from the axis of symmetry of the juxtaposed stations, i.e., as half the distance between the station positions:

L₂≥X_stn (2)

it may be desirable for L2 to be greater than X_stnTo allow the end effector of the arm mechanism to reach the desired extension to station without over-extending its elbow joint.

Determine an example length of the first link: the joint-to-joint length L1 of the first link may be defined as the distance between the axis of rotation of the shoulder joint and the axis of rotation of the elbow joint. Given the values of L2 and L3, the length of the first link may be determined, for example, such that the arm mechanism fits within the allowed swing radius when retracted:

L₁＝R_s-R_w+L₂-L₃ (3)

here, R is_wRepresenting the radius of a circular payload, such as a wafer, carried by the end effector.

As an example, the station position may be selected to have an X-axis offset X of 388.6mm_stnAnd a Y-axis offset Y of 1,030.2mm_stn. Radius of permissible oscillation R defining a circular space in which the withdrawn robot arm mechanism can rotate freely_sMay be chosen to be, for example, 605.8 mm. The payload carried by the arm mechanism may be, for example, of radius R of 150mm_wA circular wafer of (2). Based on the above example criteria, the geometry of suitable example arm mechanisms,That is, the joint-to-joint link and end effector lengths may be determined as follows: 565.5mm for L3 and 397.6mm for L2>X_stn388.6mm and L1 287.9 mm.

Consider the example arm mechanism of fig. 40 and 41, where the orientation of the end effector may be constrained, for example, by a belt arrangement having a circular elbow pulley and a non-circular wrist pulley, and given the above example station position and arm mechanism geometry, the wrist pulley may have a profile as depicted by line 1102 in fig. 42A (the figure shows one half of the profile for clarity). The relative orientation of the wrist pulley with respect to the third link (end effector) is illustrated with a solid arrow 1104 pointing from the axis (center) of the wrist joint along the longitudinal axis of the third link toward the center of the end effector. For comparison, the circular elbow is represented by line 1106.

Fig. 42B-42E illustrate how the orientation of the end effector 1062 of the above example arm mechanism having the wrist pulley profile defined according to fig. 42A is constrained according to the relative angle of the second link 1060 with respect to the first link 1058 (i.e., the relative angle between the first and second links).

Fig. 43 shows a pulley profile that can be used for the same arm geometry as the previous pulley profile example and can produce the same or similar motion. Here, end effector orientation 1120 is shown with black arrows and elbow and

wrist strap profiles

1124, 1122 are shown as non-circular.

A belt/cable arrangement may be provided that uses two non-circular pulleys to constrain the orientation of the end effector. For example, this may apply to both single end effector configurations (fig. 42A-42E or otherwise) and dual end effector configurations (fig. 32 and 36 or otherwise) all of which may share substantially the same kinematics. In this additional example, the elbow pulley connected to the upper arm is non-circular and so is the wrist pulley connected to the end effector. This may be provided as an alternative to the example of a pulley profile for the special case where the elbow pulley is circular and the wrist pulley is non-circular. By way of example, a pulley profile is shown in fig. 43. Similar to fig. 42A, only one half of each non-circular pulley is shown. Here, the profile is generated for the same arm geometry (link length) as the previous example of a non-circular pulley.

An example staged motion of the robotic arm mechanism as its end effector extends along a linear path to the above example station is depicted in fig. 44. To cause the end effector of the robotic arm mechanism to follow the example motion of fig. 44, the axes of the robotic drive units may be actuated as shown in diagram 1150 in fig. 45, which shows T1 axis position vs time 1152 and T2 axis position vs time 1154.

Another example staged motion of the robotic arm mechanism as the end effector extends to the same example station is depicted in fig. 46, this time along a path formed by two

segments

1200, 1202 blended around a common pass-through point 1204. To obtain the example motion of fig. 46, the axes of the robot drive unit may be rotated as shown in diagram 1250 in fig. 47, which shows T1 axis position vs time 1252 and T2 axis position vs time 1254.

In fig. 45 and 47, the zero point of the angle to the axis of the robot drive unit is defined as follows: when the arm mechanism is in the folded posture (retracted posture) with the third link (end effector) pointing along the x-axis (i.e., pointing at 3 o' clock), the T1 axis angle is 0 degrees and the T2 axis angle is at 180 degrees. In this case, the angle of the first link is 0 degree, the angle of the second link is 180 degrees, and the angle of the third link (end effector) is 0 degree.

Fig. 48 shows an illustration of a side view of a robot 300 with an example robot arm mechanism 1310, the example robot arm mechanism 1310 having two end effectors mounted on a robot drive unit 1312. The arm mechanism may be comprised of a first link 1314 (upper arm), a second link 1316 (forearm) a, a third link 1318 (end effector) a, a second link 1320 (forearm) B, and a third link 1322 (end effector) B.

An example internal arrangement of the robot of fig. 48 is diagrammatically depicted in fig. 49A and 49B. The arm mechanism may be driven by a three-axis spindle having three coaxial axes (e.g., an outer T11340 axis, a T2 axis 1342, and an inner T3 axis 1344). In some embodiments, the T2 shaft 1342 may be partially within the outer T11340 shaft and the inner T3 shaft 1344 may be partially within the T2 shaft 1342. The orientation of the end effector a is constrained by the band arrangement. The belt arrangement may comprise an elbow pulley connectable to the first link, and a wrist pulley connectable to the support structure with the end effector a, and a belt, belt or cable that may transmit motion between the two pulleys. The belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 49A and 49B, the wrist pulley may feature a non-circular profile and the elbow pulley may have a substantially circular profile. Similarly, the orientation of the end effector B may be constrained by another band arrangement. The belt arrangement may comprise an elbow pulley connectable to the first link, a wrist pulley connectable to the end effector B and a belt, belt or cable that may transmit motion between the two pulleys. Again, the belt arrangement may feature a variable transmission ratio. The variable transmission ratio may be achieved, for example, using at least one pulley having a non-circular profile. As an example, referring to fig. 49A and 49B, the wrist pulley may feature a non-circular profile and the elbow pulley may have a substantially circular profile. The variable transmission ratio may be selected such that the orientation of each of the two end effectors changes in a predetermined manner depending on the relative positions of the first links and the corresponding second links. For example, it may be selected such that the end effector may follow a path to a station as illustrated in fig. 39. Examples are discussed below.

Suitable geometries for the arm mechanisms of fig. 48 and 49A, 49B, i.e., joint-to-joint links and end effector lengths, may be determined based on the same criteria as described above for the example 2-degree-of-freedom 3-link robotic arm mechanism of fig. 40.

Similarly, consider the example arm mechanism of fig. 40 and 41, where the orientation of the end effector may be constrained by a belt arrangement with a circular elbow pulley and a non-circular wrist pulley, as an example, and assume the earlier selected example station position and arm mechanism geometry (X)_stn＝388.6mm,Y_stn1,030.2mm, L1-287.9 mm, L2A-L2B-L2-397.6 mm and L3A-L3B-L3-565.5 mm), with early morning glowingThe same profile discussed with respect to fig. 4 may be used for both wrist pulleys.

An example staged motion of the robotic arm mechanism as the end effector a extends along the linear path 1440 to the above example station is depicted in fig. 50. In this particular example, the end effector B together with the second link B remain folded on top of the first link such that they stay within the allowed swing radius of the robot arm mechanism. To cause the robot arm mechanism to follow the example motion of fig. 50, the axes of the robot drive unit may be actuated according to the example motion profile of diagram 490 of fig. 51 showing T1 axis position vs time 1492 and T2 axis position vs time 1494 and T3 axis position vs time 1496.

Another example staged motion of the robotic arm mechanism as the end effector a extends to the same example station is depicted in fig. 52, this time along a path formed by two

segments

1540, 1542 that are blended around a common pass-through point 1544. In this example, the movement of the second link B, and thus the end effector B, is controlled to limit the range of movement of the payload carried on the end effector B. To obtain the example motion of fig. 52, the axes of the robot drive unit may be rotated as shown in the example of illustration 1640 of fig. 53 showing T1 axis position vs time 1642 and T2 axis position vs time 1644 and fig. 3 axis position vs time 1646.

In fig. 51 and 53, the zero point of the angle to the axis of the robot drive unit is defined as follows: when the arm mechanism is in the folded position (retracted position) with the third links (end effectors) a and B pointing along the x-axis (i.e., pointing 3 o' clock), the T1 axis angle is 0 degrees and the T2 and T3 axis angles are at 180 degrees. In this case, the angle of the first link is 0 degree, the angles of the second links a and B are at 180 degrees, and the angles of the third links (end effectors) a and B are at 0 degree.

According to another aspect, the first strap arrangement comprises a shoulder pulley attached to the second drive shaft, a first elbow pulley coupled to the forearm, and a strap, belt or cable arranged between the shoulder and elbow pulleys to transmit motion therebetween.

In accordance with another aspect, the second band arrangement includes a second elbow pulley coupled to the upper arm, a wrist pulley coupled to the end effector, and a band, belt, or cable arranged between the second elbow pulley and the wrist pulley to transmit motion between the second elbow pulley and the wrist pulley.

In accordance with another aspect, at least one of the second elbow pulley and the wrist pulley has a non-circular profile to provide a variable transmission ratio.

In accordance with another aspect, the variable transmission ratio is selected such that the orientation of the end effector varies in a predetermined manner depending on the relative position of the upper arm and forearm.

In accordance with another aspect, one or more of the first drive shaft and the second drive shaft are axially movable to facilitate vertical movement of the robot arm.

In accordance with another aspect, at least one of the third elbow pulley and the first wrist pulley has a non-circular profile to provide a variable transmission ratio to the two-stage belt arrangement.

In accordance with another aspect, at least one of the fourth elbow pulley and the second wrist pulley has a non-circular profile to provide a variable transmission ratio for the two-stage belt arrangement.

In accordance with another aspect, at least one of the first lower belt, band or cable and the second lower belt, band or cable is configured in a crossed configuration.

In accordance with another aspect, the variable transmission ratio is selected such that the orientation of the first and second end effectors changes in a predetermined manner depending on the relative position of the upper arm and forearm and the second drive shaft.

According to another aspect, the first rotational joint is one of on a right-hand side of an imaginary line extending from the first shoulder strap wheel to the first wrist strap wheel and on a left-hand side of an imaginary line extending from the first shoulder strap wheel to the first wrist strap wheel.

In accordance with another aspect, the first strap arrangement includes a first shoulder pulley attached to the first drive shaft, a first elbow pulley attached to the first forearm, and a first strap, belt, or cable configured to transmit motion between the first shoulder pulley and the first elbow pulley.

In accordance with another aspect, at least one of the first shoulder pulley and the first elbow pulley has a non-circular profile to provide a variable transmission ratio to the first band arrangement.

In accordance with another aspect, the third band arrangement includes a second elbow pulley operable with the first elbow pulley, a first wrist pulley coupled to the first end effector, and a third band, belt, or cable configured to transmit motion between the second elbow pulley and the first wrist pulley.

In accordance with another aspect, at least one of the second elbow pulley and the first wrist pulley has a non-circular profile to provide a variable transmission ratio to the third belt arrangement.

In accordance with another aspect, the second belt arrangement includes a second shoulder pulley attached to the third drive shaft, a third elbow pulley attached to the second forearm, and a second belt, or cable configured to transmit motion between the second shoulder pulley and the third elbow pulley.

In accordance with another aspect, at least one of the second shoulder pulley and the third elbow pulley has a non-circular profile to provide a variable transmission ratio to the second belt arrangement.

In accordance with another aspect, the fourth band arrangement includes a fourth elbow pulley operable with the third elbow pulley, a second wrist pulley coupled to the second end effector, and a fourth band, belt, or cable configured to transmit motion between the fourth elbow pulley and the second wrist pulley.

In accordance with another aspect, at least one of the fourth elbow pulley and the second wrist pulley has a non-circular profile to provide a variable transmission ratio to the fourth belt arrangement.

In accordance with another aspect, the variable transmission ratio is selected such that the orientation of the first end effector varies in a predetermined manner as a function of the relative position of the first upper arm and the first forearm.

In accordance with another aspect, the gear ratio of the first belt arrangement and the gear ratio of the third belt arrangement are selected such that a center point on the first end effector is configured to: when the first upper arm is actuated by the first drive shaft and the second drive shaft is stationary, a predetermined path is followed that causes the first end effector to be in a predetermined orientation.

In accordance with another aspect, the variable transmission ratio is selected such that the orientation of the second end effector varies in a predetermined manner as a function of the relative position of the second upper arm and the second forearm.

In accordance with another aspect, the transmission ratio of the second belt arrangement and the transmission ratio of the fourth belt arrangement are selected such that a center point on the second end effector is configured to: when the second upper arm is actuated by the third drive shaft and the second drive shaft is stationary, a predetermined path is followed that causes the second end effector to be in a predetermined orientation.

It should be understood that the foregoing description is illustrative only. Various alternatives and modifications can be devised by those skilled in the art. For example, the features recited in the various dependent claims may be combined with each other in any suitable combination(s). In addition, features from different embodiments described above may be selectively combined into new embodiments. Accordingly, the description is intended to embrace all such alternatives, modifications and variances which fall within the scope of the appended claims.

Claims

1. A transport apparatus comprising:

a drive unit having a first drive shaft rotatable about a first axis of rotation and a second drive shaft rotatable about a second axis of rotation, the second drive shaft being coaxial with and partially within the first drive shaft and being axially rotatable within the first drive shaft;

a robot arm, comprising,

an upper arm connected to the drive unit at the first drive shaft,

a forearm coupled to the upper arm, the forearm coupled to the upper arm at a first rotational joint and rotatable about the first rotational joint, the first rotational joint actuatable by a first band arrangement coupled to the second drive shaft, and

an end effector coupled to the forearm and rotatable about the second rotational joint at a second rotational joint actuatable by a second belt arrangement including at least one pulley having a non-circular profile and coupled to the first rotational joint, wherein the second belt arrangement is configured to provide a variable transmission ratio;

wherein the variable transmission ratio is selected such that an orientation of the end effector is configured to change in a predetermined manner as a function of a position of the forearm relative to the upper arm, and wherein the variable transmission ratio is selected such that: when the upper arm and forearm are actuated accordingly, a reference point on the end effector is allowed to follow a predetermined path that causes the end effector to change orientation at a predetermined.

2. The apparatus of claim 1, wherein the first band arrangement comprises a shoulder pulley attached to the second drive shaft, a first elbow pulley coupled to the forearm, and a band, belt, or cable arranged between the shoulder pulley and the first elbow pulley to transmit motion between the shoulder pulley and the first elbow pulley.

3. The apparatus of claim 1 or 2, wherein the second belt arrangement comprises a second elbow pulley coupled to the upper arm, a wrist pulley coupled to the end effector, and a belt, or cable arranged between the second elbow pulley and the wrist pulley to transmit motion therebetween.

4. The apparatus of claim 3, wherein at least one of the second elbow pulley and the wrist pulley has a non-circular profile to provide the variable transmission ratio.

5. The apparatus of claim 1, wherein the variable transmission ratio is selected such that an orientation of the end effector changes in a predetermined manner as a function of relative position of the upper arm and forearm.

6. The apparatus of claim 1, wherein one or more of the first drive shaft and the second drive shaft are axially movable to facilitate vertical motion of the robot arm.

7. A transport apparatus comprising:

a drive unit having a first drive shaft rotatable about a first axis of rotation, a second drive shaft rotatable about a second axis of rotation coaxial with and partially within the first drive shaft and axially rotatable therein, and a third drive shaft rotatable about a third axis of rotation coaxial with and partially within the second drive shaft and axially rotatable therein;

a robot arm, comprising,

an upper arm connected to the drive unit at the first drive shaft,

a forearm coupled to the upper arm at a first rotary joint and rotatable about the first rotary joint, the first rotary joint being actuatable by a single-stage belt arrangement including a first shoulder pulley actuatable by the third drive shaft, a first elbow pulley partially forming the first rotary joint, and a belt, band, or cable configured to transmit motion between the first shoulder pulley and the first elbow pulley,

first and second end effectors coupled to the forearm, the first and second end effectors coupled to the forearm at a second rotational joint, an orientation of the first and second end effectors controlled by a two-stage belt arrangement including at least one pulley having a non-circular profile,

wherein a first stage of the two-stage belt arrangement comprises a second shoulder pulley actuatable by the second drive shaft, a second elbow pulley partially forming the first rotational joint, and an upper belt, or cable configured to transmit motion between the second shoulder pulley and the second elbow pulley;

wherein a second stage of the two-stage band arrangement comprises a third elbow pulley coupled to the second elbow pulley, a first wrist pulley coupled to the first end effector, and a first lower belt, or cable configured to transfer motion between the third elbow pulley and the first wrist pulley, and wherein the second stage of the two-stage band arrangement further comprises a fourth elbow pulley coupled to the second elbow pulley, a second wrist pulley coupled to the second end effector, and a second lower belt, or cable configured to transfer motion between the fourth elbow pulley and the second wrist pulley;

wherein at least one of motion between the first shoulder pulley and the first elbow pulley, motion between the second shoulder pulley and the second elbow pulley, motion between the third elbow pulley and the first wrist pulley, and motion between the fourth elbow pulley and the second wrist pulley is at a variable transmission ratio.

8. The apparatus of claim 7, wherein at least one of the third elbow pulley and the first wrist pulley has a non-circular profile to provide the variable transmission ratio to the two-stage belt arrangement.

9. The apparatus of claim 7, wherein at least one of the fourth elbow pulley and the second wrist pulley has a non-circular profile to provide the variable transmission ratio to the two-stage belt arrangement.

10. The apparatus of any one of claims 7 to 9, wherein at least one of the first lower belt, band or cable and the second lower belt, band or cable is configured in a crossed configuration.

11. The apparatus of any of claims 7-9, wherein the variable transmission ratio is selected such that the orientation of the first and second end effectors changes in a predetermined manner as a function of the relative positions of the upper arm and forearm and the second drive shaft.

12. The apparatus according to claim 7, wherein the first rotational joint is one of on a right-hand side of an imaginary line extending from the first shoulder strap wheel to the first wrist strap wheel and on a left-hand side of an imaginary line extending from the first shoulder strap wheel to the first wrist strap wheel.

13. A transport apparatus comprising:

a first robot arm comprising, in combination,

a first upper arm connected to the drive unit at the first drive shaft,

a first forearm coupled to the first upper arm, the first forearm coupled to the first upper arm at a first rotational joint, the first rotational joint actuatable by the second drive shaft using a first band arrangement, and

a first end effector coupled to the first forearm, the first end effector coupled to the first forearm at a third rotational joint, the third rotational joint actuatable by the first rotational joint using a third band arrangement; and

a second robot arm comprising, in combination,

a second upper arm connected to the drive unit at the third drive shaft,

a second forearm coupled to the second upper arm, the second forearm coupled to the second upper arm at a second rotational joint, the second rotational joint actuatable by the second drive shaft using a second band arrangement, and

a second end effector coupled to the second forearm, the second end effector coupled to the second forearm at a fourth rotational joint, the fourth rotational joint actuatable by the second rotational joint using a fourth band arrangement;

wherein at least one of the first, second, third and fourth belt arrangements comprises at least one pulley having a non-circular profile and has a variable transmission ratio.

14. The apparatus of claim 13, wherein the first band arrangement comprises a first shoulder pulley attached to the first drive shaft, a first elbow pulley attached to the first forearm, and a first band, belt, or cable configured to transmit motion between the first shoulder pulley and the first elbow pulley.

15. The apparatus of claim 14, wherein at least one of the first shoulder pulley and the first elbow pulley has a non-circular profile to provide the variable transmission ratio to the first band arrangement.

16. The apparatus of claim 14 or 15, wherein the third band arrangement comprises a second elbow pulley operable with the first elbow pulley, a first wrist pulley coupled to the first end effector, and a third band, belt, or cable configured to transmit motion between the second elbow pulley and the first wrist pulley.

17. The apparatus of claim 16, wherein at least one of the second elbow pulley and the first wrist pulley has a non-circular profile to provide the variable transmission ratio to the third belt arrangement.

18. The apparatus of claim 13, wherein the second band arrangement comprises a second shoulder pulley attached to the third drive shaft, a third elbow pulley attached to the second forearm, and a second band, belt, or cable configured to transmit motion between the second shoulder pulley and the third elbow pulley.

19. The apparatus of claim 18, wherein at least one of the second shoulder pulley and the third elbow pulley has a non-circular profile to provide the variable transmission ratio to the second band arrangement.

20. The apparatus of claim 18 or 19, wherein the fourth band arrangement comprises a fourth elbow pulley operable with the third elbow pulley, a second wrist pulley coupled to the second end effector, and a fourth band, belt, or cable configured to transmit motion between the fourth elbow pulley and the second wrist pulley.

21. The apparatus of claim 20, wherein at least one of the fourth elbow pulley and the second wrist pulley has a non-circular profile to provide the variable transmission ratio to the fourth belt arrangement.

22. The apparatus of any of claims 13-15, 17-19, and 21, wherein the variable transmission ratio is selected such that an orientation of the first end effector changes in a predetermined manner as a function of a relative position of the first upper arm and first forearm.

23. The apparatus of claim 22, wherein the transmission ratio of the first belt arrangement and the transmission ratio of the third belt arrangement are selected such that a center point on the first end effector is configured to: following a predetermined path with the first end effector in a predetermined orientation when the first upper arm is actuated by the first drive shaft and the second drive shaft is stationary.

24. The apparatus of any of claims 13-15, 17-19, and 21, wherein the variable transmission ratio is selected such that an orientation of the second end effector changes in a predetermined manner as a function of a relative position of the second upper arm and second forearm.

25. The apparatus of claim 24, wherein the transmission ratio of the second belt arrangement and the transmission ratio of the fourth belt arrangement are selected such that a center point on the second end effector is configured to: following a predetermined path with the second end effector in a predetermined orientation when the second upper arm is actuated by the third drive shaft and the second drive shaft is stationary.